cmake_minimum_required(VERSION 2.8.3)
project(handeye_calib_camodocal)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")

# Enable C++11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
        message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support, or our tests failed to detect it correctly. Please use a different C++ compiler or report this problem to the developers.")
endif()


## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  tf_conversions
  roscpp
  tf
  trajectory_msgs
  #vrep_common
)
find_package(Gflags REQUIRED)
find_package(Glog REQUIRED)

message("Gflags found = ${GFLAGS_FOUND}")
message("Glog found = ${GLOG_FOUND}")
SET(Gflags_FOUND ${GFLAGS_FOUND})
SET(Glog_FOUND ${GLOG_FOUND})

find_package(Threads QUIET)
find_package(Ceres QUIET REQUIRED)
SET(GFLAGS_LIBRARY ${CMAKE_THREAD_LIBS_INIT})
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

find_package(OpenCV REQUIRED)

if(OpenCV_FOUND)
	message(STATUS "OpenCV version: ${OpenCV_VERSION}")
    if(NOT OpenCV_VERSION VERSION_LESS "3.0.0")
        add_definitions(-DHAVE_OPENCV3)
		message(STATUS "defined HAVE_OPENCV3")

        set(CMAKE_REQUIRED_INCLUDES ${CMAKE_REQUIRED_INCLUDES} ${OPENCV_INCLUDE_DIRS})
        include(CheckIncludeFileCXX)

        check_include_file_cxx(opencv2/face/facerec.hpp HAVE_OPENCV_CONTRIB)
        if(HAVE_OPENCV_CONTRIB)
            add_definitions(-DHAVE_OPENCV_CONTRIB)
        elseif()
            message(STATUS "OPENCV_CONTRIB NOT PRESENT, DISABLING LOTS OF FUNCTIONALITY, SEE https://github.com/opencv/opencv_contrib")
        endif()

        check_include_file_cxx(opencv2/xfeatures2d/nonfree.hpp HAVE_OPENCV_XFEATURES2D_NONFREE)
        if(HAVE_OPENCV_XFEATURES2D_NONFREE)
            add_definitions(-DHAVE_OPENCV_XFEATURES2D_NONFREE)
        elseif()
            message(STATUS "OPENCV_XFEATURES2D_NONFREE NOT PRESENT, DISABLING LOTS OF FUNCTIONALITY, SEE https://github.com/opencv/opencv_contrib")
        endif()

        check_include_file_cxx(opencv2/cudafeatures2d.hpp HAVE_OPENCV_CUDAFEATURES2D)
        if(HAVE_OPENCV_CUDAFEATURES2D)
            add_definitions(-DHAVE_OPENCV_CUDAFEATURES2D)
        elseif()
            message(STATUS "OPENCV_CUDAFEATURES2D NOT PRESENT, DISABLING LOTS OF FUNCTIONALITY")
        endif()

    else()
        add_definitions(-DHAVE_OPENCV2)
    endif()
endif()

# enable GPU enhanced SURF features
# if BOTH CUDA and the OPENCV contrib cuda features are available
if(CUDA_FOUND AND HAVE_OPENCV_CUDAFEATURES2D)
    add_definitions(-DHAVE_CUDA)
    message(STATUS "defined HAVE_CUDA")

    set(CUDA_CUDART_LIBRARY_OPTIONAL ${CUDA_CUDART_LIBRARY})
endif()

# OSX RPATH
if(APPLE)
   set(CMAKE_MACOSX_RPATH ON)
endif()

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these stepadd_definitionss:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILESCAMODOCAL
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES handeye_calib_camodocal
   CATKIN_DEPENDS eigen roscpp tf trajectory_msgs #vrep_common
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS} ./src
)

## Declare a C++ library
# add_library(handeye_calib_camodocal
#   src/${PROJECT_NAME}/handeye_calib_camodocal.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(handeye_calib_camodocal ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
add_executable(handeye_calib_camodocal
  src/handeye_calibration.cpp
  src/camodocal/calib/HandEyeCalibration.cc)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(handeye_calib_camodocal_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
message("GLOG = ${GLOG_LIBRARIES}  ${GLOG_LIB}  ${GLOG_LIBS}")
target_link_libraries(handeye_calib_camodocal
  ${catkin_LIBRARIES} ${GLOG_LIBRARIES}  ${GLOG_LIB}  ${GLOG_LIBS} ${OpenCV_LIBRARIES} ${CERES_LIBRARIES}
)
#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS handeye_calib_camodocal handeye_calib_camodocal_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_handeye_calib_camodocal.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
